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Vibro-impacts of a manual transmission in vehicle systems occur normally at the location of unloaded gear pairs, correlated with firing strokes from the engine. These vibro-impacts are possibly simulated by modeling the nonlinear dynamic characteristics and then, the problems can be resolved by efficiently designing multi-staged clutch dampers. For the sake of understanding rattle phenomena, a practical manual transmission with a front-engine and front-wheel drive configuration is investigated. First, the dynamic characteristics of the given system is examined on the basis of a modal analysis. Second, the nonlinear simulation model is developed under the wide open throttle condition by focusing on the third gear pair engaged and fifth gear pair unloaded case. Third, specific multi-staged clutch damper is examined using linear and nonlinear models, and rattle phenomena are investigated by employing a multi-staged clutch dampers with single- and dual-mass flywheels. Finally, estimation on the drag torque is conducted by assuming that the vehicle system is under the steady state condition. Thus, the rattle phenomena can be simulated under different driving conditions with the known input torque profiles. [ABSTRACT FROM AUTHOR]